A transition method for continuous trajectory planning at the end of a robot
A trajectory planning, robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as lack of precise control and complex processing procedures
Active Publication Date: 2017-10-31
HANGZHOU WAHAHA PRECISION MACHINERY
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Problems solved by technology
[0007] The purpose of the present invention is to overcome the defects of lack of precise control and complicated processing flow in the method of smooth transition at the end of the robot in the prior art, and to provide a continuous trajectory planning transition method at the end of the robot
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[0083] Example: figure 1 It is a robot control system adopting the present invention, including a teaching program interpreter 10 , a track generator 20 , a real-time control program and a driver 30 and a servo driver 40 . The teaching program interpreter obtains the teaching program input by the robot operator through the human-computer interaction interface. The teaching program usually includes instructions such as linear motion, circular motion, and transition parameters between line segments. The interpreter 10 interprets the teaching program, and sends the teaching data to the trajectory generator 20. In the trajectory generator 20, the multi-degree-of-freedom industrial robot continuous trajectory planning transition control under the Cartesian space proposed by the present invention will be executed. method, calculate the data such as the joint rotation angle corresponding to the next trajectory (including the transition curve part) in advance, and transmit the data to...
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The invention discloses a continuous trajectory planning transition method for a robot tail end. The method comprises following steps that firstly, a first line segment and a second line segment which need to be subjected to continuous trajectory planning transition are determined, demonstration points of a connecting line segment are determined, and the transition distance between the demonstration points and the first line segment and the transition distance between the demonstration points and the second line segment are determined; secondly, according to the transition distance between the demonstration points and the first line segment, first transition joint points on the first line segment are determined, and according to the transition distance between the demonstration points and the second line segment, second transition joint points on the second line segment are determined; and thirdly, an amplitude coefficient, a phase coefficient and a speed zooming coefficient are calculated in a coordinate axis, and the amplitude coefficient, the phase coefficient and the speed zooming coefficient are brought into a limited term sine position planning function to determine a transition curve expression between the first transition joint points and the second transition joint points. The algorithm flow is clear, the calculating time is greatly shortened, and the complex degree of a robot control system is reduced.
Description
technical field [0001] The invention relates to a robot trajectory control method, in particular to a multi-degree-of-freedom industrial robot terminal continuous trajectory planning transition method in a Cartesian space. Background technique [0002] The trajectory planning algorithm of industrial robots is the core technology to ensure the stable motion of industrial robots. For robot applications such as arc welding, gluing, water cutting, etc., it is usually required that the end effector of the robot advances along the specified path at a speed as close as possible to a given speed, and ensures a smooth transition between adjacent paths, so the transition control method It is the key and the difficulty. [0003] In order to solve the difficult problem of path smooth transition, the earliest application is the joint space trajectory planning algorithm based on spline curve interpolation and other methods. Although this type of algorithm has the advantages of fewer con...
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IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/023B25J9/1664
Inventor 陈落根赵振叶利峰
Owner HANGZHOU WAHAHA PRECISION MACHINERY